Offline data. As shown in Fig. REF , we use the bridge dataset from [1]} for the real-world experiments, which is a large and diverse dataset of robotic behaviors collected in various scenes with different objects and illuminations. The trajectories are collected through tele-operation using virtual reality equipment. The training is conducted on 11,980 trajectories, which is comprised of 2,061 trajectories from toy kitchen 2 and 9,919 trajectories from the other scenes of the bridge data. These training data include picking and placing objects into different destinations, turning a faucet, tilting a pot upright, 
meaning:NTF . etc catcode:NTF a etc. etc.. The objects used in the target tasks are held out from the offline data.
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